cmake_minimum_required(VERSION 2.8.3)
project(grid_path_searcher)

find_package(catkin REQUIRED COMPONENTS 
    roscpp 
    std_msgs
    nav_msgs
    visualization_msgs 
)

find_package(Eigen3 REQUIRED)
find_package(PCL REQUIRED)

set(Eigen3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})

catkin_package(
  INCLUDE_DIRS include
)

include_directories(
    include
    SYSTEM
    third_party
    ${catkin_INCLUDE_DIRS} 
    ${Eigen3_INCLUDE_DIRS} 
    ${PCL_INCLUDE_DIRS}
)

set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS} -O3 -Wall") # -Wextra -Werror

add_executable(
    demo_node
    src/demo_node.cpp
    src/Astar_searcher.cpp
    src/read_only/JPS_utils.cpp
    src/read_only/JPS_searcher.cpp
)

target_link_libraries(
    demo_node
    ${catkin_LIBRARIES}
    ${PCL_LIBRARIES}
)

add_executable (
    random_complex
    src/random_complex_generator.cpp
)

target_link_libraries(
    random_complex
    ${catkin_LIBRARIES}
    ${PCL_LIBRARIES}
)
